Miller | KF949009 | Owner Manual | Miller ROBOT PAC INTERFACE User manual

Miller ROBOT PAC INTERFACE User manual
Miller.
Form:
1995
August
OM-141 1820
Effective With Serial No. KF949009
OWNERS
MANUAL
Robot PAC Interface
Plasma Arc
Cutting Interface For Robotic Systems
For Plasma Arc
Cutting (PAC)
Installs Onto Standard Robot
Uses Robot
Computer
Computer
Interface Power
Operates With Spectrum
Matching Torch
And Plasma Arc
Gouging (PAG)
Interface
Supply
1250 Plasma Arc Cutter
For Power
Supply Allows Easy Connections
Read and follow these instructions and all
blocks carefully.
U
Give this manual to the operator.
safety
Have
only
and qualified persons
service this unit.
trained
install, operate,
or
For
Call your distributor if you do not understand
the directions.
cover
5/94
ST-145 177
'
1995 MILLER Electric
or:
help,
call your distributor
MILLER Electric Mfg. Co., P.O. Box 1079,
WI 54912
414-734-9821
Appleton,
MIg. Co.
PRINTED IN USA
I
tax
J
MILLERS
TRUE BLUEfi LIMITED WARRANTY
(Equipment
This limited werrenty supersedes eli
LIMITED WARRANTY
Subject
Mtg. Co., Appleton, Wisconsin,
previous
with
Effective January 1, 1995
serial number preface of KD
a
MILLER warranties snd is exclusive with
to the terms snd conditions below, MILLER Electric
wsrrsnts to its originsl retell purchsser thst new
g~
6.
no
or
newer)
other gusrsntees
Days
or
werrenties
espressed
or
implied.
Peas end Labor
MIG Guns/TIG Torches
equipment sold stter the effective dste oI this limited wsrrsnty is Iree oI de
Iects in msterisl end workmenship et the time it is shipped by MILLER. THIS WAR
RANTY IS EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES, EXPRESS OR
IMPLIED, INCLUDING THE WARRANTIES OF MERCHANTABILITY AND FIT
MILLER
APT, ZIPCUT & PLAZCUT Model Plesme Cutting Torches
Remote Controls
NESS.
Accessory Kits
Replecement Peas
*
warranty periods listed below, MILLER will repeir or replece eny warrented perte orcomponents thet teil due to such detects in meteriel or workmenahip.
MILLER must be notitied in writing within thirty (30) deye oI such detect or teilure, et
which time MILLER wilt provide instructions on the werrenty cleim procedures lobe
Within the
MILLERS
werrenty claims on warranted equipment listed below in the
werrenty lime periods. Alt werrenty time periods
equipment wee delivered to the original reteil purcheser, or
one yeer slIer the equipment is sent to e North Americen distributor or eighteen
months eher the equipment is sent to en Internetionel distributor.
Werrenty
shell not
epply
to:
1.
Items turnished by MILLER, but manutactured by others, such ax engines or
trade accessories. These items are covered by the manutacturers warranty, it
any.
2.
Consumable components; such aa contact tips,
and relays or parts that tail due to normal wear.
3.
Equipment
tollowed.
MILLER shell honor
True Bluefi Limited
event ot such e tailure within the
cutting nozzles,
contactora
etert on the dete thet the
by any party other then MILLER, or equip
improperiy installed, impropedy operated or misused
based upon industry atandarda, or equipment which has not had reasonable
and neceasaty maintenance, or equipment which haa been used br operation
outside ot the epecibicationa br the equipment.
5Yeere Perts3YeereLebor
1.
Original
mein power rectitiere
Invertera
2.
*
(input
end
output reclitiere only)
MILLER PRODUCTS ARE INTENDED FOR PURCHASE AND USE BY COMMER
CIAL/INDUSTRIAL USERS AND PERSONS TRAINED AND EXPERIENCED IN
THE USE AND MAINTENANCE OF WELDING EGUIPMENt
Perts end Lebor
3 Yeere
Trenetormer/Rectitier Power Sources
Ptaeme Arc
CuBing
Power Sourcee
In the event ot
warranty claim covered by this warranty, the exclusive remediea
option: (1) repair; or (2) replacement; or, where authorized in
appropriate cases, (3) the reasonable coat ot repair or replace
ment at an authorized MILLER service station; or (4) payment ot or credit torthe pur
chase price (less reasonable depreciation based upon actual use) upon return ot the
goode at customers risk and expense. MILLERS option ot repair or replacement
will be FOB., Factory at Appleton, Wieconain, or FOB. at a MILLER authorized ser
vice tacility as determined by MILLER. Theretore no compensation or reimburse
ment br Iranaportation costs ot any kind will be allowed.
Inverter Power
*
Supplies
Intellitiga
Robots
Peas end Labor
2 Years
Engine Driven Welding Generetora
(NOTE: Engines ere werrented separetely by
Air Compressors
-
1 Yeer
4.
the
engine menutecturer.)
TO THE EXTENT PERMItTED BY LAW, THE REMEDIES PROVIDED HEREIN
ARE THE SOLE AND EXCLUSIVE REMEDIES. IN NO EVENT SHALL MILLER BE
LIABLE FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL OR CONSEOUENTIAL
DAMAGES (INCLUDING LOSS OF PROFIT), WHETHER BASED ON CON
TRACT, TORT OR ANY OTHER LEGAL THEORY.
Peas end Labor
Motor Driven Guns
*
a
shall be, at MILLERS
writing by MILLER in
Semi-Autometic end Autometic Wire Feeders
3.
that has been moditied
ment that has been
Process Controllers
*
IHPS Power Sources
ANY EXPRESS WARRANTY NOT PROVIDED HEREIN AND ANY IMPLIED WAR
Weter Coolant
RANTY, GUARANTY OR REPRESENTATION AS TO PERFORMANCE, AND ANY
Systems
REMEDY FOR BREACH OF CONTRACT TORT OR ANY OTHER LEGAL
THEORY WHICH, BUT FOR THIS PROVISION, MIGHT ARISE BY IMPLICATION,
OPERATION OF LAW, CUSTOM OF TRADE OR COURSE OF DEALING, IN
CLUDING ANY IMPUED WARRANTY OF MERCHANTABILITY OR FITNESS
FOR PARTICULAR PURPOSE, WITH RESPECT TO ANY AND ALL EOUIPMENT
FURNISHED BY MILLER IS EXCLUDED AND DISCLAIMED BY MILLER.
HF Units
Grids
Spot Welders
Load Benke
*
SDX Tranetormera
*
Running Geer/Treilere
Plasme Cutting Torches (except APT, ZIPCUT & PLAZCUT Models)
Tecumeeh Engines
Deutz Engines (outside Noah Americe)
Field Options
(NOTE: Field options ere covered under True Bluefi br the remaining
warmnty period ot the product they ere instelled in, or tore minimum ot
whichever is greeter.)
one yeer
-
6 Monthe
S.
Some atatea in the U.S.A. do not allow limilaliona ob how
lasts,
the exclusion ot incidental,
indirect, special
or
long an implied warranty
consequential damages, so
In Canada, legislation in aome provinces provides br certain additional warrantlea
remedies other than as stated herein, and to the extent that they may not be
waived, the limitations and exclusions set out above may not apply. This Limited
Warranty provides specitic legal rights, and other rights may be available, but may
vary trom province to province.
or
Betteriee
1
or
the above limitation or exclusion may not apply to you. This warranty provides ape
citic legal rights, and other rights may be available, but may vary trom state to state.
-1.
xw.,
RECEIVING-HANDLING
unpacking equipment, check carton for any damage that may have occurred during shipment. File any Claims for loss or damage
delivering carrier. Assistance for filing or settling claims may be obtained from distributor and/or equipment manufacturers
Transportation Department.
Before
with the
When
requesting
following
nameplate.
Use the
or
information about this
equipment, always provide
spaces to record Model
Designation
and Serial
or
Model
Style
Designation
and Serial
or
Style
Number.
Number of your unit. The information is located
on
the
rating label
Model
_________
Serial
or
Style
No.
Date of Purchase
miller 6/~5
PLASMA ARC CUTTING SAFETY PRECAUTIONS
WARNING
a
PLASMA ARC CUTTING
can
be hazardous.
PROTECT YOURSELF AND OTHERS FROM POSSIBLE SERIOUS INJURY OR DEATH. KEEP CHILDREN
AWAY. PACEMAKER WEARERS KEEP AWAY UNTIL CONSULTING YOUR DOCTOR.
In cutting, as in most jobs, exposure to certain hazards occurs. Cuffing is safe when precautions are taken. The
safety information given below is only a summary of the more complete safety information that will be found in the
Safety Standards listed on the next page. Read and follow all Safety Standards.
HAVE ALL INSTALLATION, OPERATION, MAINTENANCE, AND REPAIR WORK PERFORMED ONLY BY
QUALIFIED PEOPLE
CUTTING
can cause
fire
explosion.
or
Hot metal and sparks blow out from the cutting arc.
The flying sparks and hot metal, hot workpiece, and
hot equipment can cause fires and burns. Check and
be sure the area is safe before doing any cutting.
7.
Do not cut
8.
Connect work cable to the work
9.
Never cut containers with
yourself
and others from
1.
Protect
Do not cut where
3.
flying sparks
flying sparks
can
Remove all flammables within 35 ft
and hot metal.
strike flammable material.
(10.7 m) of the cutting
arc.
If
possible, tightly cover them with approved covers.
Be alert that sparks and hot materials from cutting can easily go
through small cracks and openings to adjacent areas.
Watch for fire, and keep a fire extinguisher nearby.
Be aware that cutting on a ceiling, floor, bulkhead, or partition
as
tanks
or
drums.
close to the
cutting area as
practical to prevent cutting current from traveling long, possibly
unknown paths and causing electric shock and fire hazards.
inside
2.
closed containers such
on
must be
they
10.
Do not cut in
11.
Do not cut
as
potentially flammable materials
emptied and properly cleaned first.
atmospheres containing explosive
pressurized cylinders, pipes,
or
dust
or
vapors.
vessels.
12.
Do not cut containers that have held combustibles.
13.
Wear oil-free
this is not
4.
5.
6.
fire
can cause
on
heavy shirt,
can
kill.
live electrical parts can cause fatal shocks
severe burns. The torch and work circuit is
or
electrically live whenever the output is on. The input
power circuit and machine internal circuits are also
live when power is on. Plasma arc cutting recluires
higher voltages than welding to start and maintain
the arc (200 to 400 volts dc are common), but also uses torches
designed with safety interlock systems which turn off the machine
when the shield cup is loosened or if tip touches electrode inside the
nozzle. Incorrectly installed or improperly grounded equipment is a
hazard.
parts.
Remove any combustibles, such as a butane lighter
matches, from your person before doing any cutting.
4.
5.
Turn oft power before
Wear
3.
Insulate
checking, cleaning,
or
changing
torch
6.
7.
input power before installing or servicing this
equipment. Lockout/tagout input power according to OSHA
CFR 191 0.147 (see Safety Standards).
Properly install and ground this equipment according to its
Disconnect
Owners
J
~r\.J4
1.
can
When
always verify the supply ground.
making input connections,
10.
grounding
11.
12.
15.
16.
17.
19.
20.
21.
Frequently inspect input power cord for damage or bare wiring
replace cord immediately if damaged bare wiring can kill.
Turn off all equipment when not in use.
Inspect and replace any worn or damaged torch cable leads.
Do not wrap torch cable around your body.
Ground the workpiece to a good electrical (earth) ground if
required by codes.
only well-maintained equipment.
Use
Repair
or
replace
damaged parts at once.
Wear a safety harness if working above floor level.
Keep all panels and covers securely in place.
Do not bypass or try to defeat the safety interlock systems.
Use only torch(es) specified in Owners Manual.
Keep away from torch tip and pilot arc when trigger is pressed.
Clamp work cable with good metal-to-metal contact to
workpiece (not piece that will fall away) or worktable as near the
cut as
practical.
NOISE
~-.
Arc rays from the cutting process produce intense
visible and invisible (ultraviolet and infrared) rays that
can burn eyes and skin.
I
can
damage hearing.
Prolonged noise from some cutting applications can
damage hearing if levels exceed limits specified by
OSHA (see Safety Standards).
ear plugs or ear muffs if noise level is high.
nearby about noise hazard.
approved
Wear face
1.
Use
filter to
2.
Warn others
8 as minimum) for all cutting currents less than 300
amperes. Z49.1 adds that lighter filter shades may be used
when the arc is hidden by the workpiece. As this is normally the
case with low current cutting, the shades suggested in Table 1
attach proper
conductor first.
burn eyes and skin.
protection (helmet or shield) with correct shade of
protect your face and eyes when cutting or watching.
ANSI Z49.1 (see Safety Standards) suggests a No. 9 shade
or
9.
Manual and national, state, and local codes.
ARC RAYS
combustible surfaces.
Check and be sure that input power cord ground wire is properly
connected to ground terminal in disconnect box or that cord
plug is connected to a properly grounded receptacle outlet
18.
parts.
on or over
8.
14.
dry, hole-free insulating gloves and body protection.
yourself from work and ground using dry insulating
mats or covers big enough to prevent any physical contact with
the work or ground.
Do not touch torch parts if in contact with the work or ground.
2.
gloves,
cap.
Do not locate unit
13.
Do not touch live electrical
a
15.
Touching
1.
leather
as
and
14.
the hidden side.
ELECTRIC SHOCK
protective garments such
high shoes,
cuffless trousers,
(with No.
provided for the operators convenience.
Wear approved safety glasses with side shields.
Use protective screens or barriers to protect others from flash
and glare; warn others not to watch the arc.
Wear protective clothing made from durable, flame-resistant
are
2.
3
4.
Table 1.
Eye
Current Level In
Protection For Plasma Arc
Amperes
Below 20
Cutting
Minimum Shade Number
I
#4
2040
I
#5
6080
I
00
_________
#8
_______
_________
material (wool and leathers and foot Drotection.
sr2 11/92
FUMES AND GASES can be hazardous
to your health.
5.
Cutting produces fumes
fumes and gases
can
and gases. Breathing these
be hazardous to your health.
1.
Keep your
2.
If inside, ventilate the area and/or
remove cutting fumes and gases.
3.
If ventilation is poor,
use an
Read the Material
Safety
4.
head out of the fumes. Do not breathe the fumes.
use
exhaust at the
arc
6.
7.
to
approved air-supplied respirator.
Data Sheets (MSDS5) and the
manufacturers instruction for metals to be cut, coatings, and
PLASMA ARC
can cause
injury.
The heat from the plasma arc can cause serious
burns. The force of the arc adds greatly to the burn
hazard. The intensely hot and powerful arc can
quickly cut through gloves and tissue.
a confined space only if it is well ventilated, or while
wearing an air-supplied respirator. Fumes from cutting and
oxygen depletion can alter airquality causing injury or death. Be
sure the breathing air is safe.
Do not cut in locations near degreasing, cleaning, or spraying
operations. The heat and rays of the arc can react with vapors to
form highly toxic and irritating gases.
Do not cut on coated metals, such as galvanized, lead, or
cadmium plated steel, unless the coating is removed from the
cutting area, the area is well ventilated, and if necessary, while
wearing an air-supplied respirator. The coatings and any metals
containing these elements can give off toxic fumes when cut.
8.
Do not cut containers with toxic or reactive materials inside or
containers that have held toxic or reactive materials they must
be emptied and properly cleaned first.
3.
The
cleaners.
~
Work in
pilot
trigger
4.
5.
burns
arc can cause
keep away from
torch
tip when
pressed.
Wear proper flame-retardant
body
__________
is
clothing covering
all
exposed
areas.
Point torch away from your body and toward work when
the torch trigger
pilot arc comes on immediately.
pressing
1.
2.
Keep away
Do not grip
~
from the torch
material
near
the
cutting path.
FLYING SPARKS AND HOT METAL
cause
6.
Turn oft power source and disconnect input power before
disassembling torch or changing torch parts.
7.
Use
1.
Wear
2.
Wear proper
tip.
can
injury.
Chipping and grinding cause flying
cool, they can throw off slag.
CYLINDERS
can
explode
metal. As welds
if
damaged.
3.
3.
4.
Gas
cylinders contain gas under high pressure. If
damaged, a cylinder can explode. Since gas
cylinders are normally part of metalworking
processes, be sure to treat them carefully.
5.
6.
7.
1.
2.
Protect
compressed gas cylinders from excessive heat,
mechanical shocks, slag, open flame, sparks, and arcs.
Install and secure cylinders in an upright position by chaining
them to a stationary support or equipment cylinder rack to
prevent falling or tipping.
8.
in the Owners
Manual.
approved face
shield or safety goggles with side shields.
body protection to protect skin.
Wear flame-resistant ear plugs or ear muffs to prevent sparks
from entering ears.
Keep cylinders away from any cutting or otherelectrical circuits.
Never allow electrical contact between a plasma arc torch and a
cylinder.
Never cut on a pressurized cylinder
explosion will result.
Use only correct gas cylinders, regulators, hoses, and fittings
designed for the specific application; maintain them and
associated parts in good condition.
Turn face away from valve outlet when opening cylinder valve.
Keep protective cap in place over valve except when cylinder is
in
9.
only torch(es) specified
use or
connected for
use.
Read and follow instructions
associated
equipment,
on
and CGA
compressed gas cylinders,
publication
P-i listed in
Safety
Standards.
PRINCIPAL SAFETY STANDARDS
Safety in Welding and Cutting, ANSI Standard Z49.i, from American
Welding Society, 550 N.W. LeJeune Rd, Miami FL 33126
National Electrical Code, NFPA Standard 70, from National Fire ProAssociation, Batterymarch Park, Quincy, MA 02269.
tection
Safe
Safetyand Health Standards,
OSHA 29 CFR 1910, from
dent of Documents, U.S. Government
D.C. 20402.
SuperintenPrinting Office, Washington,
Recommended Practices for Plasma Arc
Society Standard AWS C5.2, from
Cutting, American Welding
Welding Society, 550
American
N.W. LeJeune Rd, Miami, FL 33126
of
Hand/mg
Compressed Gases
Th
cylinders, CGA Pamphlet
P-i, from Compressed Gas Association, 1235 Jefferson Davis Highway ,
Suite 501 Arlinnton VA 22202
,
Code for Safety in Welding and Cutting, CSA Standard Wi 17.2, from
Canadian Standards Association, Standards Sales, 178 Rexdale Bou
levard, Rexdale, Ontario, Canada M9W 1 R3.
.
Safe Practices For Occupation And Educational Eye And Face Protec
tion, ANSI Standard Z87.i, from American National Standards
Recommended Safe Practices for the
Preparation for Welding and
Cutting of Containers That Have Held Hazardous Substances, Ameri
can Welding Society Standard AWS F4.1,from American Welding Society, 550 N.W. LeJeune Rd, Miami, FL 33126
sr2 11/92
Institute, 1430 Broadway, New York, NY 10018.
Cutting And Welding Processes, NFPA Standard 51 B, from National
Fire Protection Association, Batterymarch Park, Quincy, MA 02269.
EMF INFORMATION
I
N OTE ~
Considerations About
Welding
And The Effects Of Low
Frequency Electric
And
Magnetic Fields
following is a quotation from the General Conclusions Section
Congress, Office of Technology Assessment, Biological
Effects of Power Frequency Electric & Magnetic Fields
Background Paper, OTA-BP-E-53 (Washington, DC: U.S.
Government Printing Office, May 1989): .
there is now a very
large volume of scientific findings based on experiments at the
cellular level and from studies with animals and people which clearly
establish that low frequency magnetic fields can interact with, and
The
To reduce
of the U.S.
procedures:
.
magnetic fields in the workplace,
1.
Keep
2.
Arrange cables
cables close
together by twisting
or
use
taping
the
following
them.
~
to one side and away from the
operator.
.
produce changes in, biological systems. While most of this work is
of very high quality, the results are complex. Current scientific
understanding does not yet allow us to interpret the evidence in a
single coherent framework. Even more frustrating, it does not yet
allow us to draw definite conclusions about questions of possible
risk or to offer clear science-based advice on strategies to minimize
or avoid potential risks.
3.
Do not coil
4.
Keep welding power
practical.
source
5.
Connect work
to
drape cables around
or
clamp
the
body.
and cables
workpiece
as
as
far away
as
close to the weld
as
possible.
About Pacemakers:
The above procedures are among those also normally
recommended for pacemaker wearers. Consult your doctor for
complete information.
modlO 1 4/93
TABLE OF CONTENTS
SAFETY PRECAUTIONS AND SIGNAL WORDS
SECTION 1
1-1.
General Information And
1-2.
Safety
SECTION 2
2-1.
Alert
Symbol
And
1
Safety
Signal Words
1
1
INTRODUCTION
1
Description
SECTION 3
1
INSTALLATION
1
3-1.
Field Installation Instructions For PAC Interface Panel To
3-2.
Shock Sensor Unit
3-3.
Torch And Torch Cable Installation To Robot
4
3-4.
Ground Cable Connections
5
3-5.
Ground Cable, Torch Cable, And PAC lntertace Panel Cord Internal Connections
To Power Source
6
3-6.
PAC Interface Panel
Computer Interface Connection
7
3-7.
PAC Interface Panel
Power Source Connection
7
3-8.
Computer Interface
Assembly
Computer Interface
And Installation To Robot
3
Input Power Connections
7
SECTION 4- ROBOT PROGRAM MODIFICATIONS
7
Plasma Torch For MRV-6 Robot
4-1.
Setting Up
4-2.
Amendment To Robot Owners
Manual Section 4
2
7
System
SECTION 5- ELECTRICAL DIAGRAMS
Set
Up
7
14
Diagram
Diagram
5-1. Circuit
For Robot PAC
5-2. Circuit
For Robot PAC Interface Panel
15
Diagram
5-3.
For Robot PAC Interface Panel
15
SECTION 6
Diagram
Diagram
Wiring Diagram
PARTS LIST
System
14
16
OM-141 182C6/95
SECTION 1
-
SAFETY PRECAUTIONS AND SIGNAL WORDS
GENERAL INFORMATION AND SAFETY
1-1.
1-2.
SAFETY
SYMBOL
ALERT
AND
SJGNAL
WORDS
A.
General
following safety alert symbol and signal words are
throughout this manual to call attention to and
identify different levels of hazard and special instruc
The
used
Information
presented
in this manual and
on
various la
bels, tags, and plates on the unit pertains to equipment
design, installation, operation, maintenance, and
troubleshooting which should be read, understood, and
The
This
safety
alert
symbol
is used with the
signal
equipment.
a
WARNING statements
installation, operation, maintenance, and trouble
a
a
CAUTION statements identify procedures or
practices which must be followed to avoid minor
personal injury or damage to this equipment.
followed for the safe and effective
B.
tions.
use
of this
tion to the
Safety
plasma arc cutting equipment requires prac
procedures which ensure personal safety and
the safety of others. Therefore, this equipment is to be
installed, operated, and maintained only by qualified
persons in accordance with this manual and all applica
shooting
safety
statements.
identify procedures or
practices which must be followed to avoid seri
ous personal injury or loss of life.
of
tices and
ble codes such as, but not limited to, those listed in
Plasma Arc Cutting Safety Precautions in the power
source
words WARNING and CAUTION to call atten
Owners
Manual.
IMPORTANT
statements
identify special
necessary for the most efficient
instructions
operation of this equip
ment.
SECTION 2- INTRODUCTION
The robot PAC interface
MILLER Computer Interface, and MRV-6 robot
system for the Plasma Arc Cutting (PAC) process. The
be used with
robotTeach Pendant must have
2-1.
DESCRIPTION
equipped
with
a
a
211),
panel is a control designed to
Spectrum 1250 plasma arc cutter
shielded torch (MILLER Part No. 169
Part No. 042
471)
afiberoptic kit (MILLER
installed.
SECTION 3- INSTALLATION
PAC Interface
Panel
Robot Computer
Interface
Robot Computer interface
Input Power Receptacle RC11
Location (see Section 3-8 and
Computer Interface Owners Manual)
Receptacle RC2O
(see
Section
3-7)
SC-145 177
Figure
3-1. PAC Interface Panel
OM-141 182
Page
1
3-1.
FIELD INSTALLATION INSTRUCTIONS FOR
IMPORTANT:
PAC INTERFACE PANEL TO COMPUTER IN
with respect to the operator facing the Computer Inter
face front panel. Retain all hardware removed during
TERFACE
(Figures
3-1 And
3-2)
this
a
WARNING: ELECTRIC SHOCK
Do not touch live electrical
can
kill.
procedure
for reinstallation unless
left
or
right,
specifically
are
told
parts.
Remove
1.
side
input power employing lockout/tag
ging procedures before beginning this instal
connect
lation.
3.
ELECTROSTATIC DISCHARGE
circuit boards.
(ESD)
and left
Install PAC Interface frame onto left side
panel
panel
Interface with sheet metal
1
Step
(see Figure 3-1).
following internal connections
Computer Interface (see Figure 3-2).
on
of
screws re
Make the
4.
properly grounded wrist strap
handling circuit boards.
Perform work only at a static-safe work area.
cover
panel.
moved in
can
Interface top
from PAC Interface
Computer
device.
damage
Computer
panel.
Remove side
2.
of
consist
Lockoutltagging
procedures
padlocking line disconnect switch in open posi
tion, removing fuses from fuse box, or shutting
off and red-tagging circuit breaker or other dis
Put
as
otherwise.
Shut down robot and power source, and dis
connecting
All directions, such
to the
BEFORE
a.
Remove
on
INCORRECT INSTALLATION or misaligned
plugs can damage circuit board.
Be
sure
that plugs
are
b.
properly installed and
jumper link between terminals
strip 2T.
B and C
terminal
Connect lead 26 from the PAC Interface
to terminal B
terminal
on
strip
panel
2T.
aligned.
EXCESSIVE PRESSURE
board.
can
break circuit
c.
Connect lead 60 from the PAC Interface
top mounting screw on filter FL1.
panel
to
only minimal pressure and gentle move
when disconnecting or connecting
board plugs and removing or installing
Use
ment
d.
board.
Connect green lead from the PAC Interface
panel to the ground stud located directly above
terminal
strip
2T.
Left Side View Of
Interface
Computer
00
Voltage Control
Board PCi
]
Motor Control
Board PC2
Interface
1
J~. Board PC4
Ground Stud
Location
o~
PC4 Switch Si Location
PC4
Terminal
Strip 2T
Receptacle RC1
Location
Mounting Screw
Location
ITh
or-i
Filter FL1
Ref. SB-139 887-C
Figure
OM-141 182
Page
2
3-2.
Computer Interface Internal Connections
IMPORTANT: Remove the outside star washer from the
ground stud
e.
Remove
plug
PLG3 from
receptacle
RC1
on
In
SENSOR UNIT ASSEMBLY AND IN
STALLATION TO ROBOT (Figure 3-3)
3-2.
SHOCK
a
WARNING: ELECTRIC SHOCK
to make room for the green lead terminal.
Do not touch live electrical
terface Board PC4.
Connect
plug
kill.
Shut down robot and power source, and dis
connect
f.
can
parts.
PLG1O from the PAC Interface
panel
to Interlace Board PC4
where
plug PLG3 was
power employing lockout/tag
before inspecting or install
ing.
receptacle RC1
removed in Step 4e (plug
PLG3 is not connected for this
input
ping procedures
consist of padlock
ing line disconnect switch in open position, re
moving fuses from fuse box, or shutting off and
red-tagging circuit breaker or other disconnect
ing device.
Lockout/tagging procedures
application).
on Interface Board PC4 (see
Figure 3-2). Remove varnish and potting com
pound from Si and place the two DIP switches on
Si in the following positions:
Locate switch Si
5.
MOVING PARTS
Keep away
HOT SURFACES
Allow
a.
Si-i
(Disable Voltage Ramp)
in OFF
position.
(Disable Stick Checking)
Si-2
in ON
position.
1.
3-3 and
If
6.
Reinstall side
7.
Install
panel
supplied top
terface
onto PAC Interface
cover
PAC Interface
onto the
panel.
Computer
In
2.
3.
can cause severe
proceed
burns.
sensor
unit, refer
to
follows:
as
remove
sensor
from
mounting bracket,
Figure 3-3.
and
existing
shock
arm.
Assemble shock sensor,
torch clamp as shown in
Install shock
with
panel.
injt~ry.
cooling period before sen/icing.
applicable,
robot
serious
moving parts.
To assemble and install the shock
Figure
b.
can cause
from
screws
sensor
unit to robot
removed in
Step
insulating
block
1.
Robot
Arm
Shock
Sensor
Torch
Clamp
Ret. ST-Boo 476
Figure
3-3. MRV Shock Sensor Unit
Assembly
And Installation
OM-141 182
Page
3
3-3.
TORCH AND TORCH CABLE INSTALLATION
TO ROBOT (Figure 3-4 And Figure 3-5)
a
WARNING: ELECTRIC SHOCK
Do not touch live electrical
Torch
kill.
can
parts.
ccID
Brass
Tip
Gauge
~
Shut down robot and power source, and dis
connect input power employing lockout/tag
ging procedures before inspecting or install
ing.
Lockout/tagging procedures consist of padlock
ing line disconnect switch in open position, re
moving fuses from fuse box, or shutting off and
red-tagging circuit breaker or other disconnect
ing device.
MOVING PARTS
Keep
can cause
away from
HOT SURFACES
serious
~
Teach
Tip
Standard
Assembly
injury.
moving parts.
can cause severe
burns.
ST-801 330
Allow
cooling period before servicing.
Figure
3-4. Torch Brass
Offset
1.
Remove the outlet cable support arm and wire
assembly from the robot Axis 3 housing.
drive
Tip Gauge For Absolute
Adjustment And Teach Tip
supplied high frequency filter box is installed
internally connected to the Robot
Controller (see Figure 3-5 and Step 8). The filter
box receptacle provides a connection point for
The
7.
onto and is
2.
Install
supplied
torch cable support bracket onto
robot Axis 3 housing using the existing mounting
holes. Position supplied insulator plate between
bracket and robot, align holes and secure with
hardware
supplied
3.
the
supplied 35 ft. (10.5 m) shielded shock sensor
cable. To install shock
(see Figure 3-5).
to shock sensor,
supplied servo light box onto robot Axis 3
housing directly in front of torch cable support
bracket using the existing mounting holes (see
Figure 3-5). Position supplied insulator plate be
tween light box and robot, align holes and secure
with supplied hardware. Connect plug on light
box cord to nearby matching receptacle located
on the side of the Axis 3 housing. The receptacle
on the light box is not used for this application.
Route shock
a.
Install
Install cable
hanger assembly
housing.
with tool balancer
onto robot Axis 3
8.
To install the
Manual
6.
and route cable
Route
source
remaining
through support
or
sensor.
Ro
Section 4.12 in the MRV C2 robot
manual and
proceed
Do not touch live electrical
approximately 4 in. (96 mm)
protective
high frequency filter box onto the
as
follows:
WARNING: ELECTRIC SHOCK
ft_
can
kill.
parts.
Shut down Robot Controller, and disconnect
input power employing lockout/ta going pro
cedures before inspecting or installing.
between
Lockout/tagging procedures consist of padlock
ing line disconnect switch in open position, re
moving fuses from fuse box, or shutting off and
red-tagging circuit breaker or other disconnect
ing device.
ELECTROSTATIC DISCHARGE (ESD) can
damage circuit boards.
Put on properly grounded wrist strap BE
FORE handling circuit boards or making con
the bottom of the torch clamp and the torch tip.
Clamp torch cable to tool balancer on cable hang
er
cable under the torch cable
the outside of the
bot Controller and make internal connections re
fer to Section 4.10.1 in the MRV Cl robot Owners
The torch cable is shielded and enclosed in a
black protective case. Position torch handle so
that there is
cable and connect
follows:
Connect cable connector to shock
b.
_____
5.
on
as
casing.
Owners
4.
sensor
securing straps
sensor
proceed
bracket.
end of torch cable to the power
(see Section
for internal connections
3-5B).
nections inside Robot Control.
IMPORTANT: Before operating, see Section 4 and ro
bot Owners Manual for instructions for absolute offset
adjustment. Install position gauge (I-bar) onto robot out
put hub bracket. Remove the shield cup and tip from
torch and Install the
(see Figure 3-4).
OM-141 182
Page
4
supplied brasØ tip gauge and holder
Transport circuit boards in proper static
shielding carriers or packages.
Perform work only at a static-safe work area.
a.
Open Robot Control cabinet door using the two
supplied keys, and rotate the power switch han-
die
beyond
position.
b.
Remove
lower
the OFF
position
Reset/Open
Connect
9.
one
of the blank
right side of the
Remove
cover
box cord
through
plates from the
(see Figure
Owners Manual).
from filter box, and insert filter
the opening where the cover
b. Reinstall filter box
Install
one
fre
CONNECTIONS
Connect
1.
one
end of both
customer-supplied ground
ers
ground cables to the
rods (see robot Own
Manual).
Connect
2.
one
follows:
as
ground
remaining
end of the copper shielded
as follows:
cable to robot base
a.
Locate unused threaded hole
b.
To
c.
Attach
on
robot base.
Connect the filter box cord white lead to Termi
the
relay
unit
on
terminal block TB1 located
(see Figures 4.19 and
Manual).:
on
4.20 in the
MRV 02 robot Owners
Connect the filter box cord black lead to Termi
nal 4 SHOCK
g.
high
supplied flat, braided ground cable and
copper shielded cable
cover.
Connect the filter box cord green lead to the
ground stud located on the bottom panel of the
nal 5 SHOCK
f.
cable to
sensor
receptacle.
(Figure 3-5)
Robot Control behind the transformer.
e.
shock
CABLE
GROUND
3-4.
Robot Control with the hardware removed in
d.
on
cover
Robot Control
plate was removed in Step b. Align the two
matching holes and secure the filter box to the
Step
plug
quency filter box
4.17 in MRV 02 robot
c.
to the
Close and
trol. Be
on
terminal block TB1
secure
sure
cabinet door
that both door
Robot Control for future
on
(MRV 02).:
Robot Con
keys remain
near
the
use.
3.
ensure good electrical conduction, scrape
away enough paint from around the hole so that
the ground cable terminal will touch bare metal.
ground
supplied 8 mm
Route
remaining
cable terminal
to
base with
bolt.
end of the other
ground
cable to
the power source for internal connection
Section 3-5A).
Servo
Light
Box
Cable
Hanger
Shock
Sensor
Cable
(see
Shielded
Torch
Cable
Shielded
Torch Cable
In Protective
Case
Shielded
Ground
Cable
Shock
Sensor
Torch
Assembly
Ground
Rod
115VAC Input
Power Cord
S-0620-C
Figure
3-5. MRV-6 Robot PAC
System
OM-141 182 Page 5
GROUND CABLE, TORCH CABLE, AND PAC
INTERFACE PANEL CORD INTERNAL CON
3-5.
NECTIONS TO POWER SOURCE (Figure 3-5
And
Figure 3-6)
Ground Cable Connection
Route braided
front
(see
WARNING: ELECTRIC SHOCK
a
A.
cable
ground
through opening in lower
ground stud
of power source and connect to
Section 3-4 and Figure 3-6).
panel
kill.
can
Torch Cable Connections
Do not touch live electrical parts.
B.
Shut down robot and power source, and dis
connect input power employing lockout/tag
ging procedures before inspecting or install
To make torch cable internal connections, refer to
Figure 3-6 and the torch and power source Owners
Manuals and
proceed
as
follows:
ing.
Lockout/tagging procedures
consist of
padlock
ing line disconnect switch in open position, re
moving fuses from fuse box, or shutting off and
red-tagging circuit breaker or other disconnect
ing device.
MOVING PARTS can cause serious injury.
Keep away from moving parts.
HOT SURFACES
Allow
can cause severe
cooling period
before
burns.
1.
Remove power source left side panel and route
cables through access holes in lower front panel
of power source.
2.
Connect work cable to work
3.
Connect and
secure
gas/air output
Connect and
4.
servicing.
(+) output
terminal.
torch cable to torch
()
and
connector.
secure
pilot cable
to
pilot (+) output
terminal.
(+) Output
Terminals
Work
Torch (-4 And
Torch Switch
N.O.
Output Sensor
PAC Interface
Panel Cord
Command Ref.
Remote
Jumper Common
Panel
Signal
Ground
ST-801 340
Figure
C.
3-6. Power Source Internal Connections
PAC Interface Panel Cord Connections
To make PAC Interface Panel cord internal connections,
refer to Figure 3-6 and proceed as follows:
Route end of supplied cord with loose leads
through opening in lower front of the power
1.
source
a.
and make internal connections
as
Connect orange lead from cord to terminal 4
1 T.
on
c.
Connect
lead from cord to terminal 5
on
d.
Connect brown lead from cord to terminal 6
1 T.
on
on
1 T.
e.
Connect green lead from cord to terminal 8
1 T.
on
yellow
1 T.
follows:
Connect blue lead from cord to terminal 3
OM-141 182 Page6
b.
f.
Connect red lead from cord to terminal 11
g.
Connect the
on
1 T.
3-7.
five leads from cord
remaining
(purple, black, white, gray, and the uninsulated
ground lead) to the ground stud.
2.
Reinstall power
3.
Route
source
left side
panel.
remaining end of cord to PAC Interlace
panel for external connection (see Section 3-7).
Connect plug on supplied cord from power source (see
Section 3-5C) to receptacle RC2O on PAC Interlace
panel front panel as follows: align keyway, insert plug,
and rotate threaded collar
3-8.
PAC INTERFACE PANEL
TERFACE CONNECTION
3-6.
-
COMPUTER IN
3-1
(Figure
CONNECTIONS
Connect
Connect plug PLG21 attached to cord extending from
the PAC Interlace panel front panel to weld current relay
receptacle RC8 on the Computer Interlace front panel.
as
follows:
and rotate threaded collar
align keyway,
fully clockwise.
insert
plug,
fully
clockwise.
COMPUTER INTERFACE
And
Figure 3-5)
Make connections
PAC INTERFACE PANEL
POWER SOURCE
CONNECTION (Figure 3-1 And Figure 3-5)
(Figure
INPUT POWER
3-1 And
Figure 3-5)
supplied input power cord to 14-pin in
on the Computer Interlace
front panel as follows: align keyway, insert plug, and ro
tate threaded collar fully clockwise. Connect input pow
er plug on other end of cord to a 115 volts ac external
supply.
plug
on
put power receptacle RC1 1
SECTION 4- ROBOT PROGRAM MODIFICATIONS
The robot program must be changed to
arc cutting. The program is fac
bot. The standard I-bar is used for adjusting torch posi
tion and for position recovery after a robot crash. Mount
tory set to accommodate factory installed plasma arc
cutting equipment. The following in formation pertains to
plasma arc cutting torch and install the supplied brass
tip gauge according to Section 3-3 of this manual. Loos
en torch clamp screws and position torch so that tip
gauge touches I-bar reference point. Retighten screws.
IMPORTANT:
accommodate
plasma
the robot Owners
field
Manual and must be followed when
installing plasma
a
arc
cutting equipment.
WARNING: ELECTRIC SHOCK
can
kill.
Do not touch live electrical parts.
Shut down robot and welding power source,
and disconnect input power employing lock
out/tagging procedures before inspecting or
installing.
Lockout/tagging procedures consist of pad
locking line disconnect switch in open position,
removing fuses from fuse box, or shutting off
and red-tagging circuit breaker or other discon
necting
Two plastic teach tips are supplied with the PAC Inter
face. A teach tip is installed between the tip and shield/
deflector on the torch (see Figure 3-4). The tip allows
the operator to see where the plasma arc will leave the
center of the torch for more accurate positioning of
points during teaching. The operator can cutoff the tip to
length is determined to be a
length (1/8 in 3.2 mmj is typically
length).
whatever
device.
4-2.
4-1.
SETTING UP PLASMA TORCH FOR MRV-6
ROBOT
AMENDMENT TO ROBOT OWNERS
AL SECTION 4
MANU
SYSTEM SET UP
(Figure 4-1)
plasma torch does not require any changes in torch
length or wire extension in System Data on the MRV ro
The
proper torch offset
a standard offset
Add Section 4.21
Setting Welding
Power Source
Speci
fications
OM-141 182
Page
7
1)
Turn
on
Robot Control
position,
and the
input power by placing the power switch
following displays will appear as shown:
handle
on
the Robot Control cabinet door in the ON
WELCOME
DIAGNOSIS
TO
MILLER
COOPERATIVE
MILLER
ELECTRIC
START
D
I
AGNOS
I
CONTROL
Mfg.
Co.
S
920731
08:30
WELCOME
MILLER
DIAGNOSIS
STEP
1,
2,
TO
COOPERATIVE
OF
INITIAL
3,
4,
CONTROL
DIAGNOSIS
5
920731
08:30
TEACH
SERVO
TEACH
2)
OFF
EDIT
Press FUNCTION APPLICATION
OM-141 182
Page8
FILE
key
ALLOT
to scroll to next screen.
>
TEACH
MODE
SERVO
OFF
PA A M T E A
C H E
3)
Press
key
M A N A G E
OK
S Y S
.
S E T
M E MO R Y
to select Parameter.
______
SELECT
4)
TEACH
MODE
SERVO
OFF
SYSTEM
SWI
BY
KEY
WELD
I/O
L::;:~
key
5)
MODE
SERVO
OFF
SENSOR
ARC
Press
F4
key
BY
-S
PARAMETER
AUTO
>
to scroll to next screen.
SELECT
TEACH
OF
FUNCTION
TCH
Press FUNCTION APPLICATION
TYPE
TYPE
OF
PARAMETER
FUNCTION
KEY
TOUCH-S
W-CHARA
S-DATA
>
to select Weld Characteristics.
OM-141 182
Pageg
AXIS
SOURCE
POWER
ML4
WI
RE
TEACH
OFF
SERVO
GMAW
.035
.045
.062
SYNERGIC
.035
.045
.062
GTAW-1
00
.035
.045
.062
GTAW- 300
.035
.045
.062
USER
REG
6)
1ST
(
or
key
key and forward DISPLAY
SELECTf E~
or
back DISPLAY
to select GTAW-1 00 and wire size.
POWER
ML4
AXIS
STER
I
SC_ED IT
F~I~I~ DECREMENTf .
Use INCREMENT
SELECT
F Y
MODI
REG
WI
SOURCE
RE
TEACH
OFF
SERVO
REG
7)
Press
key
F~
to
.035
.045
.062
SYNERGIC
.035
.045
.062
GTAW-1
00
.035
.045
.062
G I AW-
300
.035
.045
.062
USER
REG
Register change. Display
appears
SELECT
8)
TEACH
MODE
SERVO
OFF
SENSOR
ARC
To check
OM-141 182
settings,
Page
10
press
BY
-S
F4
STER
I
SC_EDIT
F Y
MODI
151
GMAW
key
as
follows:
TYPE
OF
PARAMETER
FUNCTION
KEY
TOUCH-S
W-CHARA
to select Weld Characteristics
S-DATA
>
AXIS
POWER
ML4
WI
SOURCE
RE
TEACH
GM AW
OFF
SERVO
REG
Press
9)
AX
F2
key
S
I
to check
.035
.045
.062
GT AW-
1
00
035
.045
.062
GT AW-
300
.035
.045
.062
US ER
RE G
I
STER
SC_EDIT
Modify display.
OF
RATING
ML4
$WTBD1
SEPA
PUSH
key.
Press RECORD
until
display
AXIS
or
RECORD
Use INCREMENT
f~j~
back DISPLAY SELECT
appears
as
NG
.
TIG
~.
80A
DISP.
ML4
SERVO
Press the RESET
key to
or
AFTER
DECREMENT
select values, and
SETTING
key
use
and forward DISPLAY SE
the numerical
keys to change data
follows:
TEACH
11)
SYNER
.
OFF
SERVO
4~
RATI
POWER
ARC
SOURCE
POWER
1
TYPE
LECT
.062
IC
TEACH
10)
.045
SY NERG
FY
MOD
1ST
.035
OFF
REF.
1.
30A
0.OV
2.
40A
2.OV
3.
57A
5.OV
4,
73A
8
5.
80A
.OV
10.OV
key.
OM-141 182
Page
11
SELECT
13)
TEACH
MODE
SERVO
OFF
SENSOR
ARC
To check
settings,
AXIS
press
BY
-S
key
F4
ML4
TYPE
OF
PARAMETER
FUNCTION
KEY
TOUCH-S
W- CHARA
S-DATA
>
to select Weld Characteristics.
POWER
SOURCE
WIRE
TEACH
SERVO
OFF
GMAW
.035
.045
.062
SY N ER GIC
.035
.045
.062
GT AW
100
.035
.045
.062
GT AW 300
.035
.045
.062
US ER
REGIST
14)
REG
I
STER
MODIFY
Press TEACH MODE
key
to return to the
beginning
of the Teach mode.
TEACH
OFF
SERVO
TEACH
OM-141 182
Page
EDIT
12
FILE
ALLOT
>
Chart 4-1.
Cutting Amps
And
Speed
vs.
Metal Thickness
160
140
120
Cl)
100
E
C
E
ci)
80~
0)
0)
E
Cl)
60
40
20
0
0.000
0.250
0.750
0.500
1.000
Metal Thickness
Table 4-1.
And
Typical Amperage
Speed Settings
Metal
Thickness
Stand-Oft
Air
Pressure
Amps
Speed
0.0625
0.125
60
41
130
0.125
0.125
60
46
120
0.25
0.125
60
54
80
0.375
0.125
60
61
55
0.5
0.125
60
68
45
0.75
0.125
60
74
36
1
0.125
60
80
18
OM-141 182
Page
13
U) m C) -I 0 z (71
m I m C) -I
C)
I D
C)
U)
~0 40 ~
31
0 0 0
A
B
C
C
NB
A
H
K
L
J
C)
(0 -I
0
CD
CD
3
Ui -~
C)
- C) C
D
(0 -I
3
1
0-
0 a. 0
-I C) C
D
(0 -I
3
AWS~DZ1N
PEAK
z 0 Cl) C) -I (71 (0 -1 CD
26
COMMAND
0-
A
RC2O
/02
B>
C
COMMAND
<<RCI-6
_
/03
>
COMMAND COMMON
RC2-6>>
f~)
~-<<RCI-5
/01
D)
I
~
<<RCI-3
ORN
I
RC3-I>>
I
FILTER BOARD
_____
/05
E>-
CONT ACTOR
<<RCI-8
_____
/06
F>
/07
ORN
H>
<<Rd-I
RCI/PLGII
RC2/PLGI2
RC3/GRN LEAD
-<<RCI-4
I
I
PLG2I
RC2-2>>
C-)
F\)
WCR
60
MNT
<C
P.)
WCR
~.
<B
RC2-3>>
SHIELD
Ti
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RC26
PLO 10
CONT ACTOR
/
<4
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op/v
r)760
Circuit
Diagram
5-2. Circuit
Diagram
Diagram
No. SA-141 073-A
For Robot PAC Interface Panel
PLG2I
RC2O
FLTR
PLO 0
GRD
TO INTERFACE CONTROL BOX
Wiring Diagram
Diagram
5-3.
Wiring Diagram
No. SB-141 195-B
For Robot PAC Interface Panel
OM-141 182
Page
15
-.
138
SECTION 6
Dia.
Part
No.
Mkgs.
Description
Spectrum
PC1O
PLG11
PLG12..
PLG21
110 375
115 094
113 746
115 092
113 746
115
113
047
039
093
746
544
828
049 455
139
145
139
139
RC2O,26
Quantity
Interface
CIRCUIT CARD, RF filter
STAND-OFF SUPPORT, PC card No. 6 screw
CONNECTOR & SOCKETS, (consisting of)
CONNECTOR, rect skt 24-l8ga Molex 39-00-0038
CONNECTOR & SOCKETS, (consisting of)
CONNECTOR, rect skt 24-l8ga Molex 39-00-0038
CONNECTOR & SOCKETS, (consisting of)
CONNECTOR, rect skt 24-l8ga Molex 39-00-0038
CONNECTOR, circ 4 pin plug Amphenol MS-3106A-145-2SX
CONNECTOR, circ clamp str rlf sz 14-14S Amphenol
AN-3057-6
CABLE, port No. 18 2/c (order by ft)
BUSHING, strain relief .231/.394 ID x .733mtg hole
CIRCUIT CARD/CONNECTOR
CASE SECTION, front/bottom
140 510
PLG1O..
PARTS LIST
040
706
455
454
PANEL,
146 212
1
4
1
8
1
6
1
1
3ft
1
1
1
1
rear
NAMEPLATE, (order by model and serial number)
CABLE, port No. 18 2/c (order by ft)
CONNECTOR, circ 10 pin plug Amphenol
134 241
1
4
1
35ff
MS-3106A-18-1PX
033
..
CONNECTOR, circ clamp
str rlf
sz
18
Amphenol
97-3057-1010
1
146211
116964
CONNECTOR, circ 8 pin plug Amphenol MS-3106A-20-7P
CONNECTOR, circ clamp str rlf sz 20-22 Amphenol
1
097426
176898
CABLE, shld No. l8ga 10/c (order by ft)
CABLE, pwr interface (consisting of)
CONNECTOR & SOCKETS, (consisting of)
CONNECTOR, circ skt push-in 14-l8ga Amp 66358-6
CONNECTOR, circ clamp str rlf sz 17-20 Amp 206070-3
CABLE, port No. 18 3/c (order by ft)
PLUG, str grd armd 2P3W 15A 125V
CABLE, weld cop strd No. 2 (order by ft)
CLAMP, strap rbr 5 holes .375 wide x 4.625 Ig
CABLE, grd machine to rod
SCREW, cap stl hexhd 12mm x 20mm
TIP GAUGE, PAC
176899
TEACH TIP
2
SCREW, set sti sch .250-20 x .25Oknr cup point
PANEL, side
COVER, (used with 1 option)
LABEL, warning general precautionary
1
MS-3057-1012
141 224
152370
079 534
143922
604 825
073 690
600319
073476
141 564
049 028
602177
141449
+139 465
134464
127815
602 969
146696
PCi
...
140510
134201
PLG1O.. 115092
113746
PLG2O.. 115093
113746
600 340
RC1
...
OM-141 182
1
14
1
l6tt
1
45ft
22
1
1
1
1
1
1
1
PLUG, protective No. 6 plastic
HF FILTER BOX, (consisting of)
CIRCUIT CARD, RF filter
STAND-OFF SUPPORT, PC card .312/.375
CONNECTOR & SOCKETS, (consisting of)
CONNECTOR, rect skt 24-lBga Molex 39-00-0038
CONNECTOR & SOCKETS, (consisting of)
CONNECTOR, rect skt 24-l8ga Molex 39-00-0038
CABLE, port No. 16 2/c (order by ft)
2
CONNECTOR, circ loskt rcpt
Amphenol MS-3102A-18-1SX
148104
148103
CASE SECTION, front/bottom/rear
WRAPPER
16
1
INSULATOR
139268
Page
1
5ft
1
1
4
1
8
1
6
4ft
1
1
1
Dia.
Mkgs.
Part
No.
Description
Spectrum
RC1
PLG1
139
107
148
134
040
048
079
604
134
134
117
*115
144
010
146
282
983
943
171
534
571
860
184
160
276
629
116
212
138 033
Quantity
Interface
BUSHING, strain relief .231/.394 ID x .733mtg hole
BLANK, snap-in nyl .500mtg hole
LIGHT BOX, servo (consisting of)
CABLE, shock sensor and lights (consisting of)
CONNECTOR w/SOCKETS, (consisting of)
CONNECTOR, circ skt push-in 14-l8ga Amp 66358-6
CABLE, port No. 184/c (order by if)
CONNECTOR & PINS, (consisting of)
CONNECTOR, rect pin 20-l6ga JST SLM-41T-1 .3E
PILOT LAMP, (consisting of)
BULB, LED red 28V mm bayonet
BRACKET, shock sensor and lights
GROMMET, rbr .375 ID x .500mtg hole
CONNECTOR, circ 10 pin plug Amphenol MS-3106A-18-1PX
CONNECTOR, circ clamp str rlf sz 18 Amphenol
1
2
1
1
1
4
itt
1
4
2
1
1
1
1
97-3057-1010
165506
165507
157193
165512
165508
165509
165510
165511
010497
158278
157194
134518
159599
149109
089 256
108693
047 884
602 207
602241
134011
123314
+When
ordering
a
1
CABLE, control 30ft
BLOCK, mounting (mounts to robot)
INSULATOR, shocksensor
MOUNT, safety robot medium duty
BLOCK, angle mounting (mounts to shock sensor)
1
1
1
1
1
BLOCK, clamping (mounts to shock sensor)
BLOCK, angle clamping (mounts torch)
BLOCK, clamping (mounts torch)
CLAMP, hose .6601.75Oclp dia
TOOL BALANCER,51b
RING, split stl 1.062 ID x 1.250 OD x .l3Othk
HANGER, cable assembly
SUPPORT, cable
1
1
1
1
2
2
1
1
1
2
2
8
8
8
1
8
INSULATOR, cable restraint
CLAMP, stl cush 1 .75Odia x .531 mtg hole
SCREW, M5.8 x 14 soc hd-hex
SCREW, M61 .0 x 2ohexhd
WASHER, lock .255 ID stl
WASHER, flat .281 ID stl
INSULATOR, bracket
WASHER, shldr nyl .687 OD x .266 ID x .359dia shldr
component originally displaying
a
precautionary label,
the label should also be ordered.
*Recommended Spare Parts.
BE SURE TO PROVIDE MODEL AND SERIAL NUMBER WHEN ORDERING REPLACEMENT PARTS.
OM-141 182
Page
17
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